version: 66.04
glider: 167
mission: 2
dive: 100
start: 6 8 109 2 23 41
data:
$ID,167
$MISSION,2
$DIVE,100
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6658.9629
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.600696
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,021737,2421.701,12320.288,29,1.5,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-64.9
$GPS2,022319,2421.630,12320.389,11,1.5,16,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,228.2,30020,-18.3,-12.000
$D_GRID,576
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.05,-194.7,0.0,0.0,0,53,0.00,0.00,-34.88,0.000,2,0.000,0.000,144,2433,2452
$GC,56,-1.05,-194.7,3.1,-2.1,6,121,8.48,2.05,-48.58,0.000,4,0.252,0.042,2198,1018,3984
$GC,133,-0.28,-194.7,11.2,-22.1,18,141,0.90,2.12,-0.12,0.000,6,0.187,0.031,2443,2435,3989
$GC,481,-0.47,-194.7,51.2,-9.9,79,488,0.15,2.03,0.00,0.000,4,0.070,0.048,2381,3757,3990
$GC,612,-0.47,-194.7,69.7,-12.9,102,619,0.00,1.92,0.00,0.000,6,0.000,0.027,2381,2409,3990
$GC,957,-0.54,-194.7,107.7,-7.7,163,964,0.00,2.08,0.00,0.000,4,0.000,0.047,2373,3760,3992
$GC,1095,-0.70,-194.7,120.9,-10.7,187,1102,0.15,1.85,0.00,0.000,6,0.070,0.027,2306,2455,3992
$GC,1441,-0.52,-194.7,172.1,-14.8,248,1447,0.20,2.03,0.00,0.000,4,0.153,0.028,2369,1037,3993
$GC,1505,-0.79,-194.7,178.8,-7.7,259,1513,0.22,2.05,0.00,0.000,6,0.060,0.034,2272,2434,3993
$GC,1851,-0.57,-194.7,227.4,-15.3,320,1858,0.25,2.00,0.00,0.000,4,0.160,0.027,2351,1045,3994
$GC,1893,-0.74,-194.7,232.2,-8.8,327,1901,0.12,2.03,0.00,0.000,6,0.077,0.032,2295,2425,3994
$GC,2242,-0.68,-194.7,274.8,-13.5,388,2249,0.00,2.00,0.00,0.000,4,0.000,0.049,2288,3750,3994
$GC,2345,-0.62,-194.7,287.5,-12.6,406,2352,0.17,1.90,0.00,0.000,6,0.143,0.028,2339,2411,3994
$GC,2685,-0.79,-194.7,316.8,-7.8,450,2687,0.15,0.00,0.00,0.000,6,0.072,0.000,2276,2410,3994
$GC,3004,-0.71,-194.7,356.6,-12.0,480,3008,0.15,2.05,0.00,0.000,4,0.160,0.050,2316,3745,3994
$GC,3054,-0.80,-194.7,362.0,-10.0,484,3060,0.00,1.90,0.00,0.000,6,0.000,0.027,2316,2406,3994
$GC,3379,-0.91,-194.7,388.6,-7.3,515,3381,0.17,0.00,0.00,0.000,6,0.071,0.000,2241,2404,3993
$GC,3697,-0.72,-194.7,430.0,-13.7,545,3699,0.25,0.00,0.00,0.000,6,0.160,0.000,2314,2404,3992
$GC,4018,-0.88,-194.7,459.9,-8.8,575,4022,0.15,2.10,0.00,0.000,4,0.075,0.052,2247,3757,3992
$GC,4068,-0.76,-194.7,466.1,-13.1,579,4073,0.17,1.92,0.00,0.000,6,0.156,0.030,2296,2422,3991
$GC,4399,-0.88,-194.7,492.2,-7.2,610,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2422,3990
$GC,4712,-1.01,-194.7,518.0,-8.5,630,4714,0.22,0.00,0.00,0.000,6,0.068,0.000,2205,2422,3989
$GC,5020,-0.76,-194.7,565.4,-15.4,645,5025,0.28,2.08,0.00,0.000,4,0.170,0.054,2288,3750,3986
$GC,5042,-0.66,-194.7,568.2,-12.3,646,5046,0.15,1.95,0.00,0.000,6,0.144,0.030,2331,2391,3986
$STATE,5161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5161,begin apogee
$GC,5167,-0.22,0.0,576.0,6.2,652,5256,0.43,0.00,85.82,1.076,6,0.119,0.000,2470,2501,3532
$STATE,5256,end apogee,CONTROL_FINISHED_OK
$STATE,5256,begin climb
$GC,5259,1.05,194.7,578.7,0.0,656,5415,1.12,2.12,147.40,1.043,4,0.061,0.056,2884,3751,2737
$GC,5671,0.38,194.7,528.5,18.6,674,5678,0.82,1.85,0.00,0.000,6,0.199,0.030,2668,2504,2733
$GC,5987,0.64,294.9,502.9,7.9,690,6074,0.20,2.10,76.10,1.009,4,0.073,0.054,2753,3745,2327
$GC,6115,0.54,294.9,486.5,14.9,699,6123,0.15,1.92,0.00,0.000,6,0.173,0.030,2722,2477,2324
$GC,6440,0.62,294.9,443.4,12.5,730,6444,0.00,2.03,0.00,0.000,4,0.000,0.053,2722,3752,2319
$GC,6463,0.62,294.9,440.4,13.0,732,6467,0.00,1.90,0.00,0.000,6,0.000,0.031,2728,2488,2319
$GC,6795,0.71,317.5,400.0,11.1,763,6814,0.12,0.00,16.80,0.927,6,0.082,0.000,2778,2486,2237
$GC,7131,0.65,317.5,348.8,15.5,795,7135,0.00,2.00,0.00,0.000,4,0.000,0.054,2778,3754,2232
$GC,7189,0.51,317.5,339.6,16.4,800,7193,0.28,1.88,0.00,0.000,6,0.170,0.031,2710,2483,2231
$GC,7519,0.71,328.0,303.5,11.6,831,7533,0.17,2.08,8.62,0.808,4,0.071,0.054,2780,3756,2194
$GC,7574,0.59,328.0,294.7,17.6,838,7580,0.17,1.85,0.00,0.000,6,0.172,0.030,2740,2493,2193
$GC,7919,0.70,331.2,250.0,11.9,899,7928,0.00,2.05,4.03,0.590,4,0.000,0.053,2740,3761,2180
$GC,7968,0.70,331.2,243.9,12.7,907,7974,0.00,1.80,0.00,0.000,6,0.000,0.030,2745,2524,2180
$GC,8313,0.86,354.2,204.6,11.0,968,8339,0.17,2.15,18.92,0.803,4,0.074,0.034,2829,1113,2086
$GC,8435,0.86,354.2,187.0,15.0,989,8441,0.00,2.15,0.00,0.000,6,0.000,0.036,2828,2528,2084
$GC,8778,0.78,354.2,139.8,12.1,1050,8785,0.12,1.88,0.00,0.000,4,0.165,0.050,2796,3755,2082
$GC,8832,0.78,354.2,132.9,13.2,1059,8839,0.00,1.77,0.00,0.000,6,0.000,0.028,2802,2518,2081
$GC,9178,0.91,393.2,93.0,10.4,1120,9214,0.10,2.03,29.55,0.711,4,0.090,0.051,2844,3762,1928
$GC,9366,0.83,393.2,66.1,15.1,1153,9373,0.12,1.77,0.00,0.000,6,0.177,0.028,2815,2538,1924
$GC,9711,1.08,435.9,33.0,10.2,1214,9749,0.17,2.00,32.67,0.644,4,0.068,0.050,2894,3765,1754
$GC,9778,0.95,435.9,23.6,15.9,1225,9784,0.20,1.75,0.00,0.000,6,0.167,0.027,2849,2557,1752
$STATE,9951,end climb,SURFACE_DEPTH_REACHED
$STATE,9951,begin surface coast
$FINISH,1.7,1.021827
$STATE,9980,end surface coast,CONTROL_FINISHED_OK
$STATE,9980,begin surface
$SM_CCo,10057,0.00,0.000,0,0,1748,437.86
$SM_GC,2.76,7.22,0.00,0.00,0.058,0.000,0.000,144,2422,1748,-7.49,-0.14,437.86
$IRIDIUM_FIX,2415.74,12315.81,010998,232324
$TT8_MAMPS,0.028379
$HUMID,1558
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.5,21.035
$10V_AH,10.9,12.572
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.950,75.400,419.925,0.000,0.000,28.054,32.878,159.648,4.000,0.000,0.000,16.957,2147.555,5282.120,515.232,2019.833,432.415,0.000,1534.955,0.000,1974.989,0.000,27.735,0.000
$DEVICE_MAMPS,252.343,69.030,1076.101,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,847.582,936.355,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66230,1261
$CAP_FILE_SIZE,119613,0
$CFSIZE,260165632,216944640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,157.3,1
$GPS,080609,051231,2420.049,12319.508,39,1.8,39,-3.5